[Krobot-commits] [SCM] krobot branch, master, updated. 5734668f606f94fd06962fae0aeb046bf4e7cf98

[Pierre C. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 5734668f606f94fd06962fae0aeb046bf4e7cf98
Author: chicco <cha...@cr...>
Date:   Wed May 9 22:46:31 2012 +0200

    [krobot_vm] stop the robot if it is too far from the ghost

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index f111d23..a071772 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -79,7 +79,9 @@ type t =
           - [a_rad_max] in m/s^2 *)
   | Odometry of float * float * float
       (** [Odometry(x, y, theta)] the position of the robot on the
-          table. *)
+          table.
+          - [x, y] in m
+          - [theta] in rad *)
   | Odometry_ghost of float * float * float * int * bool
       (** [Odometry_ghost(x, y, theta, following)]. [following] is
           [true] iff the robot is following the ghost. *)
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index a613692..9a67034 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -48,6 +48,9 @@ type robot = {
   mutable position : vertice;
   (* The position of the robot on the table. *)
 
+  mutable ghost_position : vertice;
+  (* The position of the ghost on the table. *)
+
   mutable orientation : float;
   (* The orientation of the robot. *)
 
@@ -100,6 +103,7 @@ let handle_message robot (timestamp, message) =
               robot.orientation <- math_mod_float theta (2. *. pi)
 
           | Odometry_ghost(x, y, theta, u, following) ->
+              robot.ghost_position <- { x; y };
               robot.curve_parameter <- u;
               robot.moving <- following
 
@@ -389,6 +393,15 @@ let run robot =
             ()
         | Some curve ->
             try
+              (* Check that the robot is not too far from the ghost.
+                 if it is then stop brutaly:
+                 TODO do something interesting after the stop: retry what we were doing *)
+              if distance robot.ghost_position robot.position > 0.1 then begin
+                ignore (Lwt_log.info_f "Robot too far from the ghost");
+                robot.strategy <- [Stop];
+                reset robot;
+                raise Exit
+              end;
               (* Check that there is no colision between the current
                  position and the end of the current curve. *)
               for i = robot.curve_parameter to 255 do
@@ -457,6 +470,7 @@ lwt () =
     change_strategy = None;
     append_strategy = None;
     position = { x = 0.; y = 0. };
+    ghost_position = { x = 0.; y = 0. };
     orientation = 0.;
     objects = [];
     moving = false;
diff --git a/info/vision/camlcv/src/cv_caml.c b/info/vision/camlcv/src/cv_caml.c
index 7b70980..42cb9cd 100644
--- a/info/vision/camlcv/src/cv_caml.c
+++ b/info/vision/camlcv/src/cv_caml.c
@@ -963,21 +963,20 @@ CAMLprim value ocaml_cvInitUndistortMap( value vcameraMatrix, value vdistCoeffs,
 {
   CAMLparam4( vcameraMatrix, vdistCoeffs, vmap1, vmap2 );
 
-  /*
   CvMat cameraMatrix = CvMat_val(vcameraMatrix);
   CvMat distCoeffs = CvMat_val(vdistCoeffs);
-  */
-  /*
+
   cvInitUndistortMap(&cameraMatrix,
                      &distCoeffs,
                      Image_val(vmap1)->image,
                      Image_val(vmap2)->image);
-  */
+
+  /*
   cvInitUndistortMap(NULL,
                      NULL,
                      NULL,
                      NULL);
-
+  */
 
   CAMLreturn(Val_unit);
 }


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